Position calculation divce and position calculation method

Abstract

A position calculation device includes, a memory, and a processor coupled to the memory and the processor configured to, receive a first beacon signal transmitted from a first transmitter installed in a first floor and a second beacon signal transmitted from a second transmitter installed in a second floor, perform a first determination of a floor where the position calculation device is positioned based on measurement information of a motion sensor, perform a second determination of a specific beacon signal from among the first beacon signal and the second beacon signal, the specific beacon signal corresponding to the determined floor, and calculate a first position of the position calculation device based on the specific beacon signal.

What is claimed is: 
     
         1 . A position calculation device comprising:
 a memory; and   a processor coupled to the memory and the processor configured to:   receive a first beacon signal transmitted from a first transmitter installed in a first floor and a second beacon signal transmitted from a second transmitter installed in a second floor,   perform a first determination of a floor where the position calculation device is positioned based on measurement information of a motion sensor,   perform a second determination of a specific beacon signal from among the first beacon signal and the second beacon signal, the specific beacon signal corresponding to the determined floor, and   calculate a first position of the position calculation device based on the specific beacon signal.   
     
     
         2 . The position calculation device according to  claim 1 , wherein the first determination includes,
 specifying a movement state of the position calculation device based on the measurement information, and   determining whether or not the floor where the position calculation device is positioned has been changed based on the movement state.   
     
     
         3 . The position calculation device according to  claim 2 , wherein the movement state of the position calculation device is a walking state of a user who possesses the position calculation device. 
     
     
         4 . The position calculation device according to  claim 2 ,
 wherein the motion sensor includes a three-axis angular velocity sensor that is mounted to a lower half body below a waist of a user who possesses the position calculation device, the lower half body including a foot, and   wherein the specifying includes,   creating a profile by integrating an angular velocity in a direction perpendicular to a traveling direction and a height direction of the user, which is detected by the three-axis angular velocity sensor, with respect to time during a walking period, for each walking period, and   specifying the movement state based on a shape of the profile.   
     
     
         5 . The position calculation device according to  claim 1 , the processor further configured to,
 detect a walking period of a user who possesses the position calculation device based on the measurement information,   calculate a displacement angle of the user based on the measurement information, and   calculate a second position of the position calculation device based on a movement distance corresponding to the walking period and the displacement angle.   
     
     
         6 . The position calculation device according to  claim 1 , the processor further configured to determine posture stability of a user who possesses the position calculation device based on the measurement information. 
     
     
         7 . The position calculation device according to  claim 1 , the processor further configured to,
 detect that a user who possesses the position calculation device starts or ends one of ascending a stairway and descending a stairway, based on the measurement information, and   determine that the position calculation device is positioned at an upward entrance of the stairway or a downward entrance of the stairway.   
     
     
         8 . A position calculation method executed by a computer, the method comprising:
 receiving a first beacon signal transmitted from a first transmitter installed in a first floor and a second beacon signal transmitted from a second transmitter installed in a second floor,   performing a first determination of a floor where a position calculation device is positioned based on measurement information of a motion sensor,   performing a second determination of a specific beacon signal from among the first beacon signal and the second beacon signal, the specific beacon signal corresponding to the determined floor, and   calculating a first position of the position calculation device based on the specific beacon signal.   
     
     
         9 . The position calculation method according to  claim 8 , wherein the first determination includes,
 specifying a movement state of the position calculation device based on the measurement information, and   determining whether or not the floor where the position calculation device is positioned has been changed based on the movement state.   
     
     
         10 . The position calculation method according to  claim 9 , wherein the movement state of the position calculation device is a walking state of a user who possesses the position calculation device. 
     
     
         11 . The position calculation method according to  claim 9 ,
 wherein the motion sensor includes a three-axis angular velocity sensor that is mounted to a lower half body below a waist of a user who possesses the position calculation device, the lower half body including a foot, and   wherein the specifying includes,   creating a profile by integrating an angular velocity in a direction perpendicular to a traveling direction and a height direction of the user, which is detected by the three-axis angular velocity sensor, with respect to time during a walking period, for each walking period, and   specifying the movement state based on a shape of the profile.   
     
     
         12 . The position calculation method according to  claim 8 , further comprising:
 detect a walking period of a user who possesses the position calculation device based on the measurement information;   calculate a displacement angle of the user based on the measurement information; and   calculate a second position of the position calculation device based on a movement distance corresponding to the walking period and the displacement angle.   
     
     
         13 . The position calculation method according to  claim 8 , further comprising determine posture stability of a user who possesses the position calculation device based on the measurement information. 
     
     
         14 . The position calculation method according to  claim 8 , further comprising:
 detect that a user who possesses the position calculation device starts or ends one of ascending a stairway and descending a stairway, based on the measurement information; and   determine that the position calculation device is positioned at an upward entrance of the stairway or a downward entrance of the stairway.   
     
     
         15 . A non-transitory computer-readable recording medium storing a position calculation program that causes a computer to execute a process comprising:
 receiving a first beacon signal transmitted from a first transmitter installed in a first floor and a second beacon signal transmitted from a second transmitter installed in a second floor,   performing a first determination of a floor where a position calculation device is positioned based on measurement information of a motion sensor,   performing a second determination of a specific beacon signal from among the first beacon signal and the second beacon signal, the specific beacon signal corresponding to the determined floor, and   calculating a first position of the position calculation device based on the specific beacon signal.